METHOD AND SYSTEM FOR CLASSIFYING OBJECTS IN A PERCEPTION SCENE GRAPH BY USING A SCENE-DETECTION-SCHEMA
First Claim
1. A method of classifying objects for a perception scene graph, comprising the steps of:
- collecting sensor information about an area adjacent a motor vehicle;
processing the sensor information to detect a plurality of objects and to generate a perception scene graph (PSG) comprising a virtual 3-dimensional model of the area adjacent the motor vehicle, wherein the PSG includes the detected plurality of objects;
assigning a classification level (n) to each of the detected plurality of objects;
comparing each of the detected plurality of objects with reference objects in a scene detection schema (SDS) tree having a plurality of classification levels; and
classifying each of the detected plurality of objects in the PSG based on the classification level in the SDS tree.
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Abstract
A method and system is provided for using a scene detection schema for classifying objects in a perception scene graph for a motor vehicle. The scene detection schema includes collecting sensor information about an area surrounding the vehicle, including capturing an image of the area; processing the sensor information to generate a perception scene graph (PSG); detecting a plurality of objects by analyzing the captured image; comparing the detected objects with reference objects; classifying the detected objects based on matching reference objects; and assigning a priority to each of the classified objects. The steps of detecting and classifying objects having higher priorities are reiterated with a greater frequency than objects having lower priorities. An object is assigned a higher priority level if the object is in a focus region of the PSG. The fidelity of the focus region is increased by updating the classification of the objects after each reiteration.
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Citations
20 Claims
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1. A method of classifying objects for a perception scene graph, comprising the steps of:
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collecting sensor information about an area adjacent a motor vehicle; processing the sensor information to detect a plurality of objects and to generate a perception scene graph (PSG) comprising a virtual 3-dimensional model of the area adjacent the motor vehicle, wherein the PSG includes the detected plurality of objects; assigning a classification level (n) to each of the detected plurality of objects; comparing each of the detected plurality of objects with reference objects in a scene detection schema (SDS) tree having a plurality of classification levels; and classifying each of the detected plurality of objects in the PSG based on the classification level in the SDS tree. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of a scene detection schema for classifying objects, comprising the steps of:
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collecting sensor information about an area adjacent a motor vehicle, including capturing an image, by an image capturing device; processing the sensor information to generate a perception scene graph (PSG) comprising a virtual 3-dimensional model of the area adjacent the motor vehicle; detecting a plurality of objects in the virtual 3-dimensional model by analyzing the collected sensor information, including analyzing the captured image to detect the plurality of objects; comparing each of the detected plurality of objects with reference objects; classifying each of the detected plurality of objects based on matching reference objects; assigning a priority level to each of the classified objects; and reclassifying selected objects using a SDS tree based on the respective assigned priority levels for each object. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system for using a scene detection schema for classifying objects in a perception scene graph (PSG) in a motor vehicle, comprising:
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at least one external sensor, including an image capturing device, having an effective sensor range configured to gather information on a surrounding of the motor vehicle; and at least one perception controller in communication with the at least one external sensor, wherein the at least one perception controller is configured to generate the PSG comprising a virtual model of the surroundings of the motor vehicle based on the gathered information from the external sensor; wherein the at least one perception controller is further configured to detect objects based on gathered information, compare detected objects with reference objects, and classify detected object based on matching reference objects in a scene detection schema (SDS) tree having a plurality of classification levels. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification